KR20130104860A - Ship navigation system and path control method thereof - Google Patents

Abstract

PURPOSE: A ship navigation system and a route control method of the ship navigation system improve a calculation speed by suggesting an efficient algorithm for route setting. CONSTITUTION: A fixed information system (110) manages fixed information including hull information. A variable information system (120) manages variable information including location information, weather information, barrier area information, and chart information. A route control system (200) provides optimal route information between the starting point and destination point by reflecting the fixed information and the variable information. The route control system generates multiple second points where a ship reaches within a specific time based on the final speed of the ship from a first point and provides the optical route information by selecting one second point among the multiple second points according to the fixed information and the variable information. [Reference numerals] (111) Real time monitoring module; (121) Weather module; (122) Satellite communication module; (123) Marine map module; (124) Sea route module; (131) Monitor; (210) Sea route control module; (250) Ux module

Description

Ship navigation system and route control method of the ship navigation system {SHIP NAVIGATION SYSTEM AND PATH CONTROL METHOD THEREOF}

The present invention relates to a navigation apparatus and method for a marine moving object. More specifically, in order to plan to move the optimum route while considering various environmental information in setting the route of the vessel, a plurality of reachable points that can be considered from the starting point to the destination point are filtered according to the environmental information and the destination point The present invention relates to a navigation apparatus and a method for a marine moving object for finding an optimal path of a.

In the process of establishing a ship's navigation plan, it is necessary for the navigator to consider all the various factors such as ship information, weather information, and natural environment information such as meteorological information and maritime information, and chart information such as land area, danger area, and border line. Most of the time it depends on experience and intuition.

On the other hand, even though the information related to automation equipment, satellite communication system, meteorological observation system, navigation system, etc., provided on the ship is provided, the route calculation complexity takes account of all the various cases in the planning of the navigation. Increased, and the calculation speed was slowed.

In addition, when there is a prohibited area in front of the starting point, or when there is a prohibited area between the starting point and the destination point, there is a problem of suggesting a route passing through the prohibited area because it determines the possible route generation area from the starting point.

In order to solve the above problems, when a starting point and a destination point are set for each ship, all the environmental information of the ship is collected and analyzed, and a plurality of reachable points that can be considered during the movement of the ship are reflected in the environmental information. It provides a ship navigation system and route control method that provides the optimal route by filtering according to certain criteria.

In order to solve the above technical problem, the ship navigation system according to an embodiment of the present invention comprises at least one of a fixed information system for managing fixed information including the hull information, location information, weather information, obstacle zone information and chart information A variable information system for managing variable information, and a route control system for providing optimum route information between a starting point and a destination point by reflecting the fixed information and the variable information.

The route control system generates a plurality of second points reachable within a specified time based on the final speed of the ship from at least one first point of the route reaching the destination point from the starting point, and the fixed information or the According to the variable information, at least one second point of the plurality of second points may be selected to provide optimal route information.

The route control system generates the plurality of second points with respect to all directions when the first point is a starting point, and when the first point is not the starting point, the plurality of second points within a preset angle. Can be generated.

The route control system may select at least one second point that is the shortest distance to the destination point from among the plurality of second points.

The route control system determines whether the plurality of second points correspond to an obstacle area based on at least one of weather information, sea chart information, obstacle area information, and location information, and deletes the second points included in the obstacle area. Second points not included in the obstacle area may be selected.

The Ux module may store the fault zone information.

The obstacle zone information may include at least one of traffic line information, land area information, border information, and dangerous area information.

The route control system may select the first point and the second point such that a route connecting the first point and the second point from the starting point to the destination point is equal to or less than a predetermined distance.

In order to solve the above technical problem, the route control method of the ship navigation system according to an embodiment of the present invention comprises the steps of (a) setting the departure point and the destination point, (b) hull information, location information, weather information, Collecting fixed information or variable information including at least one of obstacle area information and chart information; (c) based on a final speed of the ship from at least one first point of a path from the starting point to the destination point; Generating a plurality of second points reachable with each other; (d) selecting at least one second point among the plurality of second points according to the fixed information or the variable information; and (e) selecting the second point. Repeating steps (c) and (d) until two points reach the destination point.

In the step (c), when the first point is a starting point, the plurality of second points are generated in all directions, and when the first point is not the starting point, the plurality of second points within a preset angle. You can create a point.

Step (d) may select at least one second point that is the shortest distance from the plurality of second points to the destination point.

The step (d) may include determining whether the plurality of second points correspond to an obstacle area based on at least one of weather information, chart information, obstacle area information, and location information, and determine a second point included in the obstacle area. The method may include selecting second points that are not included in the obstacle area.

The obstacle zone information may include at least one of traffic line information, land area information, border information, and dangerous area information.

The step (d) further includes the step of selecting the first point and the second point so that the route connecting from the starting point to the destination point through the first point and the second point is less than a predetermined distance. can do.

The ship navigation system and the route control method of the ship navigation system according to the embodiments of the present invention reduce the complexity of route calculation, improve the calculation speed by providing an efficient algorithm for setting the route, and also improve the calculation speed from the starting point to the destination point. It has the effect of providing an optimal route considering various factors that may occur during route navigation.

1 is a schematic conceptual diagram of a ship navigation system according to embodiments of the present invention.
Figure 2 is a block diagram showing the configuration of a ship navigation system according to an embodiment of the present invention.
3 is a block diagram showing in detail the configuration of the ship navigation system of FIG.
4 is a conceptual view illustrating a process of generating a second point at a first point, which is a starting point, of a ship navigation system according to embodiments of the present invention.
FIG. 5 is a conceptual view illustrating a process of generating a second point at a first point instead of a starting point in a ship navigation system according to embodiments of the present invention.
6 is a conceptual diagram illustrating an embodiment in which a ship navigation system filters a second point according to embodiments of the present invention.
FIG. 7 is a conceptual diagram illustrating a filtered second point among second points illustrated in FIG. 6.
8 is a conceptual diagram illustrating an optimal route output according to a ship navigation system according to embodiments of the present invention.
9 is a flowchart illustrating a path control method of a ship navigation system according to an embodiment of the present invention.

It is to be understood that the specific structural or functional description of embodiments of the present invention disclosed herein is for illustrative purposes only and is not intended to limit the scope of the inventive concept But may be embodied in many different forms and is not limited to the embodiments set forth herein.

The embodiments according to the concept of the present invention can make various changes and can take various forms, so that the embodiments are illustrated in the drawings and described in detail herein. It should be understood, however, that it is not intended to limit the embodiments according to the concepts of the present invention to the particular forms disclosed, but includes all modifications, equivalents, or alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms may be named for the purpose of distinguishing one element from another, for example, without departing from the scope of the right according to the concept of the present invention, the first element may be referred to as a second element, The component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, the terms "comprises" or "having" and the like are used to specify that there are features, numbers, steps, operations, elements, parts or combinations thereof described herein, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings attached hereto.

1 is a schematic conceptual diagram of a ship navigation system according to embodiments of the present invention.

In determining the course of travel from the point of departure (A) to the point of destination (B) on a ship, all the various factors affecting the operation should be considered. The ship navigation system 100 of FIG. 1 provides weather information such as wind, ocean current, wave height, scale, weather, geographic location information, and depth information about a route between a departure point A and a destination point B. It collects variable information including and monitors fixed information including hull information such as cargo loading information of ship, inclination information of ship and status of each engine during operation in real time. As a result, the ship navigation system 100 controls the route of the ship by calculating the moving route from the starting point A to the destination point B in consideration of both the variable information and the fixed information.

Figure 2 is a block diagram showing the configuration of a ship navigation system according to an embodiment of the present invention.

Referring to FIG. 2, the navigation system 100 includes a fixed information system 110, a variable information system 120, an interface system 130, and a route control system 200.

The fixed information system 110 manages fixed information. The fixed information includes hull information such as cargo loading information of a vessel, tilt information of a vessel, and status information of each engine during operation.

The variable information system 120 monitors the variable information in real time and manages the variable information. Variable information includes location information, weather information, obstacle area information, and chart information.

The route control system 200 reflects the fixed information and the variable information and provides an optimal route between a starting point and a destination point. The route control system 200 generates a plurality of second points reachable within a reference time at the final speed of the ship about at least one first point from the starting point to the destination point, and the fixed information. Alternatively, an optimal route connecting the filtered second points may be provided by repeating filtering at least one second point of the plurality of second points and updating the first point according to the variable information.

The interface system 130 may transmit / receive and display various input / output information including fixed information, variable information, optimal route, and the like.

3 is a block diagram showing in detail the configuration of the ship navigation system of FIG.

Referring to FIG. 3, the fixed information system 110 may include a real time monitoring module 111. The real-time monitoring module 111 monitors the cargo loading information of the ship, the slope information of the ship, the status of each engine during operation, and the like. Each engine state information includes state information of an engine, a propeller, a thruster, a rudder, etc., for example. The fixed information system 110 may operate in conjunction with the ship's automation system. Automation systems include, for example, ship automatic control systems (IAS), ship agencies and cargo integrated surveillance control systems (ICMS) and automated manifest manifest systems (AMS).

The variable information system 120 includes a weather module 121, a satellite communication module 122, and a sea chart module 123.

The meteorological module 121 operates in conjunction with the meteorological observation system. The meteorological observation system is equipped with sensor equipment such as anemometer, barometer, water thermometer, and rain gauge to observe the weather and equipped with wave height measuring radar to observe the sea condition. The meteorological module 121 receives and informs the weather and sea information of the region to be monitored as well as the place where the ship is located from the meteorological observation system.

The satellite communication module 122 operates in association with a satellite communication system. The satellite communication system transmits macroscopic weather forecast information using a satellite and transmits charity information including a current weather condition of the ship and real-time weather information of the ship's location to a base station on land. That is, the satellite communication module 122 receives weather information and weather forecast on the ship, and transmits charity information to the base station.

The island module 123 operates in conjunction with the navigation system. The navigation system includes essential navigation information sensors such as the Geographic Location Information System (GPS) and the Automatic Ship Position Identification System (AIS). In addition, the navigation system may include an electronic chart display and information system (ECDIS), radar, and the like, capable of route compatibility, radar target information, and image overlay. The chart module 123 may receive chart information, image information, target information, and the like from the navigation system.

The route control system 200 may include a route control module 210 and a UX module 250.

The route control module 210 generates a plurality of second points reachable within a reference time at the final speed of the ship about at least one first point from the starting point to the destination point, and the fixed information. Alternatively, at least one second point of the plurality of second points may be filtered and updated to the first point according to the variable information, thereby providing an optimal route connecting the filtered second points.

The Ux module 250 may collect and store at least one of the fixed information, the variable information, and the optimum route information. In addition, when the route control module 210 determines whether the plurality of second points correspond to an obstacle area based on at least one of weather information, chart information, obstacle area information, and location information, the Ux module determines the determined obstacle area information. You can save more. Disability zone information may include traffic line information, land area information, border information, dangerous area information.

The interface system 130 may include a monitor 131. The monitor 131 displays information transmitted and received from the fixed information system, the variable information system, and the air route control system.

4 is a conceptual diagram illustrating a process of generating a second point at a first point of a ship navigation system according to embodiments of the present invention, and FIG. 5 is a ship navigation system according to embodiments of the present invention. 6 is a conceptual diagram illustrating a process of generating a second point at a first point other than the starting point. FIG. 6 is a view illustrating an embodiment in which a ship navigation system filters a second point according to embodiments of the present invention. 7 is a conceptual diagram illustrating a filtered second point among the second points illustrated in FIG. 6.

For convenience of explanation, assume that Vo is the speed under normal conditions of the ship, Vw is the speed at which the weather conditions are reflected in the normal speed of the ship, U is the speed of the current, and Vg is the final speed of the ship.

The final speed (Vg) of the ship is equal to the vector sum of the speed (Vw) and the speed of the current (U), which reflect the weather conditions in the normal speed of the ship.

Referring to FIG. 4, the air route control system 200 first generates a reference time Δt at a speed of Vg and a list Xn (Δt) of positions that can be moved by a predetermined angle. The reference time Δt may be variously set depending on the embodiment such as 4 hours, 6 hours, 12 hours, etc. based on the watch time. Each point belonging to Xn (Δt) may have a parent, a G value, and an H value. The parent is the point at which the ship has passed, the G value is the distance (Vg x Δ t) and the H value the ship has moved from the starting point (A) to the destination point (B).

Referring to FIG. 4, first, several points X1 (Δt) of the same distance d are separated from the starting point A. FIG. In the case of the starting point, a plurality of X1 (Δt) is generated in all directions (360 degrees). It is a circular definition of the list of points that can be moved by calculating Vg equally at any point X1 (Δt) among the n points made at the starting point A.

Referring to FIG. 5, a list of points X2 (Δt) that can be moved by calculating Vg in the plurality of X1 (Δt) is generated in the same manner as in the previous step. However, unlike the departure, since the ship is difficult to change the direction sharply, it is possible to move only within a predetermined angle based on the direction that has been moved from the starting point (A). Therefore, X1 (Δt) other than the preset angle is filtered out, and a list of points X2 (Δt) that can be moved within X1 (Δt) within the preset angle is generated. The preset angle may be set in various ways in consideration of various factors such as the type of the ship or the speed during operation of the ship.

Even if the plurality of movable points are generated and filtered as described above, the number of cases may increase exponentially. In consideration of the calculation complexity and the calculation speed, the air route control system 200 sets a certain area as shown in FIG. 6 among the plurality of X2 (Δt) and moves the farthest point among the set areas, that is, the destination point B Only the point close to the) is left and the list of other points is deleted as shown in FIG. 7.

In addition, the route control system 200 calculates the G value and the H value among the filtered representative points and deletes the representative point if it is larger than M times the linear distance between the starting point A and the destination point B. FIG. In this case, M is a natural number and may be variously set by a user.

In addition, the route control system 200 may determine whether there is a land area or an obstacle (such as a reef) between the starting point A and the destination point B. FIG. The route control system 200 may load the chart information of the plurality of representative points Xn (Δt) points to filter again in a land area or an obstacle area.

In addition, the route control system 200 may determine whether the plurality of representative points Xn (Δt) points belong to a traffic line region or a national border based on the chart information, the route information, the hull information, and the like. have. For example, when an arbitrary representative point Xn (Δt) belongs to the route line area, filtering can be performed when the difference between the traveling direction of the route line and the moving direction of Xn (Δt) is different.

8 is a conceptual diagram illustrating an optimal route output according to a ship navigation system according to embodiments of the present invention.

Referring to FIG. 8, the route control system 200 includes a list of points made after a time of "nx Δ t" and a shortest distance between a starting point A and a destination point B based on various environmental information within a reference time. When it reaches it, it stops the work and connects the shortest point (d1-d2 -....- dn) to connect the parental points to create the optimal path.

9 is a flowchart illustrating a path control method of a ship navigation system according to an embodiment of the present invention.

The ship navigation system 100 first sets the starting point (A) and the destination point (B) (S10), and the fixed information including the hull information and variable information including position information, weather information, obstacle area information and chart information, etc. Collect in real time (S20).

The ship navigation system 100 generates a plurality of second points reachable within a set time within a predetermined angle about the at least one first point. In this case, when the first point is not the starting point (S30), the plurality of second points which are movable at the final speed of the ship within the set time at a predetermined angle are generated (S40, S50). However, when the first point is a starting point (S30), the plurality of second points which are movable at the final speed of the ship within the set time in all directions are generated (S45, S55).

The ship navigation system 100 may select at least one second point of the plurality of second points according to the environment information and filter the remaining second points. The environmental information includes fixed information and variable information.

In more detail, when the plurality of second points overlap at least two within a predetermined area, at least one second point that is the shortest distance from the destination point in the predetermined area is selected and the remaining second point is selected. Filter. That is, only the point closest to the representative point, ie, the point closest to the destination point B, of the preset area among the plurality of second points is left, and the remaining points are deleted (S60).

In addition, the ship navigation system 100 calculates the G value and the H value among the filtered representative points, and deletes the representative point if it is larger than M times the linear distance between the starting point A and the destination point B (S70). . In this case, M is a natural number and may be variously set by a user.

In addition, the ship navigation system 100 determines whether the plurality of second points correspond to an obstacle area based on weather information, sea chart information, obstacle area information, and location information. Then, at least one second point included in the obstacle area is deleted and only the remaining second points not included in the obstacle area are filtered (S80). At this time, the obstacle area information includes traffic line information, land area information, border information, reef information, and the like. For example, if any representative point belongs to the route area, it can be filtered if there is a difference by comparing the traveling direction of the route and the current direction of movement of the vessel.

When the route connected from the starting point A to the second point exceeds a predetermined multiple of the linear distance from the starting point to the destination point, the ship navigation system 100 selects the last selected second point. In operation S90, at least one second point that does not exceed a predetermined multiple of the straight line distance may be left filtered. That is, when the H value (distance to the destination point B) is larger than the reachable distance within the reference time, the process of generating and filtering the second point from the first point is repeated.

If the path connecting the selected second points is a distance reachable within a reference time, the final route is determined and output (S100).

The path control method of the ship navigation system according to the embodiments of the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Includes hardware devices that are specially configured to store and execute program instructions such as magneto-optical media and ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

100: ship navigation system
110: fixed information system 111: real-time monitoring module
120: variable information system
121: weather module 122: satellite communication module
123: sea chart module 124: route module
130: interface system 131: monitor
200: route control system
210: route control module 250: Ux module

Claims (15)

A fixed information system for managing fixed information including hull information;
A variable information system for managing variable information including at least one of location information, weather information, fault zone information, and chart information; And
And a route control system for providing optimum route information between a starting point and a destination point by reflecting the fixed information and the variable information.
The route control system is
Generating a plurality of second points reachable within a specified time based on the final speed of the ship from at least one first point of the route from the starting point to the destination point; Ship navigation system for providing the optimum route information by selecting at least one second point of the plurality of second points. The method of claim 1, wherein the route control system
And a UX module for collecting and storing at least one of the fixed information, the variable information, and the optimum route information. 3. The method of claim 2,
The route control system is
And generating the plurality of second points in all directions when the first point is the starting point, and generating the plurality of second points within a predetermined angle when the first point is not the starting point. 3. The method of claim 2,
The route control system is
And at least one second point of the plurality of second points that is the shortest distance to the destination point. 3. The method of claim 2,
The route control system is
Determine whether the plurality of second points correspond to an obstacle area based on at least one of weather information, chart information, obstacle area information, and location information, and delete and include the second points included in the obstacle area in the obstacle area. Ship navigation system for selecting second points that are not. The method of claim 5,
The UX module
Ship navigation system for storing the fault zone information. The method of claim 5,
The obstacle area information
A ship navigation system comprising at least one of traffic line information, land area information, border information, and dangerous area information. 8. The method according to any one of claims 1 to 7,
The route control system is
And a first point and a second point so that a route connected from the starting point to the destination point through the first point and the second point is equal to or less than a predetermined distance. (a) setting a starting point and a destination point;
(b) collecting fixed information or variable information including at least one of hull information, location information, weather information, fault zone information, and chart information;
(c) generating a plurality of second points reachable based on the final speed of the ship from at least one first point of the route from the starting point to the destination point;
(d) selecting at least one second point of the plurality of second points according to the fixed information or the variable information; And
(e) repeating steps (c) and (d) until the selected second point reaches the destination point. 10. The method of claim 9,
The step (c)
When the first point is a starting point, generating the plurality of second points in all directions;
And generating the plurality of second points within a preset angle when the first point is not a starting point. 10. The method of claim 9,
The step (d)
And selecting at least one second point that is the shortest distance to the destination point from among the plurality of second points. 10. The method of claim 9,
The step (d)
Determining whether the plurality of second points correspond to an obstacle area based on at least one of weather information, chart information, obstacle area information, and location information; And
Deleting the second point included in the obstacle area and selecting second points not included in the obstacle area. The method of claim 12,
The obstacle area information
A route control method of a ship navigation system comprising at least one of traffic line information, land area information, border information, and dangerous area information. 14. The method according to any one of claims 9 to 13,
The step (d)
Selecting the first point and the second point such that a route connecting the first point and the second point from the starting point to the destination point is less than or equal to a predetermined distance; Way. A computer readable medium embodying the route control method of the ship navigation system according to any one of claims 9 to 14 in the form of program instructions that can be executed by various computer means.

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